In his first-ever interview, the sole Australian survivor of the Waco siege has revealed to 60 Minutes what really took place during the 51-day stand-off, and why he believes crazed cult leader David Koresh will one day return to Earth as the son of God.

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Bell said he saw blood on his hands when he held the child but thought it was from a small cut on his wrist.

"He wasn't moving when I picked him up ... he was sobbing and crying," Bell said.

"I was in a hysterical state of mind at the time he fell out of the car.

"To me he didn't seem to need any help."

Over the next 15 hours, Bell did not seek medical assistance for the child despite admitting he was concerned for the baby, the court heard.

Bell said it was when he stopped at a swimming spot to cool and clean the child that he noticed skin sliding off his back and bottom.

The court heard the child was left alone in the hot car several times with the keys in the ignition, and that Bell bought beer, cigarettes, flavoured milk and oranges during the trip but no baby food, formula, nappies or bandages.

Bell said he was drinking beer and listening to music while the baby lay on the floor of the car moments before he drowned.

He said when the child struggled to breathe after falling into the river, he performed CPR before putting him on his lap and driving to a nearby roadhouse.

"It's a very sad incident what happened, but just got to deal with it," Bell said.

The defence is expected to conclude its evidence on Tuesday when the judge-alone trial resumes.